double Arena::runSimulation(Maze& maze, Robot& r) {
//reset maze
maze.clearVisited();
maze.clearValues();
//set needed values after reset
Cell* curCell = maze.getStartCell();
robotOrientation = direction::SOUTH;
unsigned int move;
double score;
//while the robot is not in the same cell facing the same direction
while (!repeat(robotOrientation, curCell->getValue()) && !(curCell == maze.getEndCell())) {
//set current cell to visited and update it's value
curCell->setVisited();
curCell->setValue(curCell->getValue() + robotOrientation);
//send the robot the environment and get it's next move
move = r.getMove(getEnv(robotOrientation, curCell));
//perform next move
//find rotation
if (move == 3 || move == 7) {
robotOrientation = Direction::left(robotOrientation);
}
else if (move == 2 || move == 6) {
robotOrientation = Direction::opposite(robotOrientation);
}
else if (move == 1 || move == 5) {
robotOrientation = Direction::right(robotOrientation);
}
else {
//no rotation
}
//move forwards
if (!curCell->hasWall(robotOrientation) && !curCell->hasEdge(robotOrientation)) {
curCell = maze.getCell(curCell->getRow() + Direction::row(robotOrientation), curCell->getCol() + Direction::col(robotOrientation));
}
}
//calculate score
//score is a 1 if the end has been reached, else it is 1 - (distance from end * 0.01)
if (curCell == maze.getEndCell()) {
score = 1.0;
}
else {
score = (double)getNumberOfVisitedCells(maze) / (double)((double)maze.getRows() * (double)maze.getCols());
}
//return score
return score;
}
double Arena::runSimulation(Maze& maze, Robot& r, sf::RenderWindow& window) {
sf::Font f;
if (!f.loadFromFile("fonts/Oswald-Regular.ttf")) return 0;
const int ROWS = maze.getRows();
const int COLS = maze.getCols();
const int CELL_SIZE = 30, OFFSET = 150;
sf::RectangleShape rectangles[10][10];
vector<sf::RectangleShape> lines;
//text for display of info
sf::Text bst;
sf::Text med;
sf::Text gen;
//set fonts
bst.setFont(f);
med.setFont(f);
gen.setFont(f);
bst.setColor(sf::Color::Black);
med.setColor(sf::Color::Black);
gen.setColor(sf::Color::Black);
//set sizes
bst.setCharacterSize(24);
med.setCharacterSize(24);
gen.setCharacterSize(24);
//set positions
gen.setPosition(10, 10);
bst.setPosition(10, 40);
med.setPosition(10, 70);
//set strings
stringstream stream;
stream.str("");
string out;
stream << generation;
stream >> out;
out = "Generation: " + out;
gen.setString(out);
stream.str(string());
stream.clear();
out.clear();
stream << setprecision(2) << median;
stream >> out;
out = "Median Score: " + out;
med.setString(out);
stream.str(string());
stream.clear();
out.clear();
stream << setprecision(2) << best;
stream >> out;
out = "Best Score: " + out;
bst.setString(out);
//Cell used to find borders for the board spaces
Cell* c;
//populate rectangles as board spaces
for (int i = 0; i < ROWS; i++) {
for (int j = 0; j < COLS; j++) {
//add board spaces, set color and position
rectangles[i][j] = sf::RectangleShape(sf::Vector2f(CELL_SIZE, CELL_SIZE));
rectangles[i][j].setFillColor(sf::Color::White);
rectangles[i][j].setPosition((j * CELL_SIZE) + OFFSET, (i * CELL_SIZE) + OFFSET);
//set cell to find borders and highlight end cell
c = maze.getCell(i, j);
if (c == maze.getEndCell()) rectangles[i][j].setFillColor(sf::Color::Blue);
if (c->hasWall(direction::NORTH) || c->hasEdge(direction::NORTH)) {
lines.push_back(sf::RectangleShape(sf::Vector2f(CELL_SIZE, 2)));
lines[lines.size() - 1].setPosition(rectangles[i][j].getPosition());
lines[lines.size() - 1].setFillColor(sf::Color::Black);
}
if (c->hasWall(direction::WEST) || c->hasEdge(direction::WEST)) {
lines.push_back(sf::RectangleShape(sf::Vector2f(2, CELL_SIZE)));
lines[lines.size() - 1].setPosition(rectangles[i][j].getPosition());
lines[lines.size() - 1].setFillColor(sf::Color::Black);
}
if (c->hasWall(direction::SOUTH) || c->hasEdge(direction::SOUTH)) {
lines.push_back(sf::RectangleShape(sf::Vector2f(CELL_SIZE, 2)));
lines[lines.size() - 1].setPosition(rectangles[i][j].getPosition() + sf::Vector2f(0, CELL_SIZE));
lines[lines.size() - 1].setFillColor(sf::Color::Black);
}
if (c->hasWall(direction::EAST) || c->hasEdge(direction::EAST)) {
lines.push_back(sf::RectangleShape(sf::Vector2f(2, CELL_SIZE)));
lines[lines.size() - 1].setPosition(rectangles[i][j].getPosition() + sf::Vector2f(CELL_SIZE, 0));
lines[lines.size() - 1].setFillColor(sf::Color::Black);
}
}
}
//reset maze
maze.clearVisited();
maze.clearValues();
//set needed values after reset
Cell* curCell = maze.getStartCell();
robotOrientation = direction::SOUTH;
unsigned int move;
double score;
//clock for delays
sf::Clock clock;
sf::Time delay = sf::milliseconds(50);
//DRAW WINDOW INITIALLY WITH START CELL HIGHLIGHTED AS CURRENT
window.clear(sf::Color::White);
//highlight start cell
rectangles[curCell->getRow()][curCell->getCol()].setFillColor(sf::Color::Green);
//add cells
for (int i = 0; i < ROWS; i++) {
for (int j = 0; j < COLS; j++) {
window.draw(rectangles[i][j]);
}
}
//add borders
for (unsigned int i = 0; i < lines.size(); i++) {
window.draw(lines[i]);
}
//add information
window.draw(gen);
window.draw(bst);
window.draw(med);
window.display();
//while the robot is not in the same cell facing the same direction
while (!repeat(robotOrientation, curCell->getValue()) && !(curCell == maze.getEndCell())) {
//set current cell to visited and update it's value
curCell->setVisited();
curCell->setValue(curCell->getValue() + robotOrientation);
//send the robot the environment and get it's next move
move = r.getMove(getEnv(robotOrientation, curCell));
//perform next move
//find rotation
if (move == 3 || move == 7) {
robotOrientation = Direction::left(robotOrientation);
}
else if (move == 2 || move == 6) {
robotOrientation = Direction::opposite(robotOrientation);
}
else if (move == 1 || move == 5) {
robotOrientation = Direction::right(robotOrientation);
}
else {
//no rotation
}
//reset clock and hold for display
clock.restart();
while (clock.getElapsedTime() < delay) {}
//HIGHLIGHT CURRENT CELL AS VISITED
rectangles[curCell->getRow()][curCell->getCol()].setFillColor(sf::Color::Red);
//move forwards
if (!curCell->hasWall(robotOrientation) && !curCell->hasEdge(robotOrientation)) {
curCell = maze.getCell(curCell->getRow() + Direction::row(robotOrientation), curCell->getCol() + Direction::col(robotOrientation));
}
//REDRAW WINDOW WITH UPDATED CELLS
window.clear(sf::Color::White);
//highlight current visiting cell
rectangles[curCell->getRow()][curCell->getCol()].setFillColor(sf::Color::Green);
//add cells
for (int i = 0; i < ROWS; i++) {
for (int j = 0; j < COLS; j++) {
window.draw(rectangles[i][j]);
}
}
//add borders
for (unsigned int i = 0; i < lines.size(); i++) {
window.draw(lines[i]);
}
sf::Event event;
while (window.pollEvent(event))
{
// "close requested" event: we close the window
if (event.type == sf::Event::Closed)
return -1;
}
//add information
window.draw(gen);
window.draw(bst);
window.draw(med);
window.display();
}
//calculate score
//score is a 1 if the end has been reached, else it is 1 - (distance from end * 0.01)
if (curCell == maze.getEndCell()) {
score = 1.0;
}
else {
score = (double)getNumberOfVisitedCells(maze) / (double)((double)maze.getRows() * (double)maze.getCols());
}
//reset clock and hold for display
clock.restart();
while (clock.getElapsedTime() < sf::milliseconds(1000)) {}
//return score
return score;
}